Cleaning robot and control method thereof

ABSTRACT

A cleaning robot including a movement module, a cleaning module, a shock sensor module and a control module is disclosed. The movement module includes a plurality of rollers. The cleaning module includes a suction aperture, a cleaning brush, and a dust collection box. The shock sensor module detects a shock and generates a detection signal. The control module controls at least one of the movement module and the cleaning module according to the detection signal.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.61/606,106 filed on Mar. 2, 2012, and Taiwan Patent Application No.101124360, filed on Jul. 6, 2012, the entirety of which is incorporatedby reference herein.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention relates to a cleaning robot, and more particularly to acleaning robot comprising a shock sensor module.

2. Description of the Related Art

Cleaning floors takes a lot of time. To reduce the time for cleaning afloor, many cleaning devices have been developed, such as a broom, a mopand so forth. However, the cleaning devices must be manually operatedfor cleaning. Thus, conventional cleaning devices are inconvenient.

With technological development, many electronic devices have beendeveloped, such as robots. Taking a cleaning robot as an example, thecleaning robot can autonomously execute a cleaning action. A user is notrequired to manually operate the cleaning robot to clean a floor. Thus,the cleaning robot has gradually replaced conventional cleaning devices.However, the conventional cleaning robot cannot satisfy with differentsurrounding environments. Additionally, the conventional cleaning robotis easily affected by magnetic fields, and surrounding light and voices.

BRIEF SUMMARY OF THE INVENTION

In accordance with an embodiment, a cleaning robot comprises a movementmodule, a cleaning module, a shock sensor module and a control module.The movement module comprises a plurality of rollers. The cleaningmodule comprises a suction aperture, a cleaning brush, and a dustcollection box. The shock sensor module detects a shock and generates adetection signal. The control module controls at least one of themovement module and the cleaning module according to the detectionsignal.

In accordance with a further embodiment, a control method for a cleaningrobot comprises: moving the robot; detecting a shock to generate adetection signal; and controlling an operation of the robot according tothe detection signal.

A detailed description is given in the following embodiments withreference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention can be more fully understood by referring to the followingdetailed description and examples with references made to theaccompanying drawings, wherein:

FIG. 1 is a schematic diagram of an exemplary embodiment of a cleaningrobot;

FIG. 2 is a surface diagram of an exemplary embodiment of a cleaningrobot; and

FIG. 3 is a flowchart of an exemplary embodiment of a control method fora cleaning robot.

DETAILED DESCRIPTION OF THE INVENTION

The following description is of the best-contemplated mode of carryingout the invention. This description is made for the purpose ofillustrating the general principles of the invention and should not betaken in a limiting sense. The scope of the invention is best determinedby reference to the appended claims.

FIG. 1 is a schematic diagram of an exemplary embodiment of a cleaningrobot. The cleaning robot 100 comprises a shock sensor module 110, acontrol module 130, a movement module 150, and a cleaning module 170.The shock sensor module 110 detects a shock to generate a detectionresult and generates a detection signal S_(D) according to the detectionresult. The control module 130 controls at least one of the movementmodule 150 and the cleaning module 170 according to the detection signalS_(D).

In an embodiment, the control module 130 utilizes a control signalS_(C1) to control the movement module 150 to adjust a traveling route ofthe cleaning robot 100. In another embodiment, the control module 130utilizes a control signal S_(C2) to control the cleaning module 170 toadjust a cleaning function of the cleaning robot 100.

The control module 130 obtains information about the surroundingenvironment according to the detection signal S_(D) and controls atleast one of the movement module 150 and the cleaning module 170according to the obtained information about the surrounding environment.Thus, the traveling route or the cleaning function of the cleaning robot100 can be adjusted when the surrounding environment is changed.Additionally, the traveling route or the cleaning function of thecleaning robot 100 is not affected by magnetic fields, light or voicesin the surrounding environment.

FIG. 2 is a surface diagram of an exemplary embodiment of a cleaningrobot. The cleaning robot 100 comprises a base case 200. The movementmodule 150 is disposed under the base case 200. In this embodiment, themovement module 150 comprises rollers 151˜153.

The control module 130 controls the rotational direction and therotational of speed of the rollers 151˜153 according to the controlsignal S_(C1). The control module 130 sends a stop command, a startcommand, a speed-up command, and a speed-down command to control therollers 151˜153 such that the cleaning robot 100 has a rotation functionand a cruise function.

For example, when the cleaning robot 100 collides with an obstacle orthe cleaning robot 100 is slantwise or jumps due to an external forceapplied to the cleaning robot 100, the shock sensor module 110 iscapable of detecting a shock and generating the detection signal S_(D).The control module 130 adjusts the rotational direction of the cleaningrobot 100 according to the detection signal S_(D) to avoid the obstacleor to leave an uneven ground area.

In this embodiment, the shock sensor module 110 comprises a gravitysensor 111 to detect the shock generated by the base case 200, but thedisclosure is not limited thereto. In other embodiments, the shocksensor module 110 comprises a plurality of gravity sensors to detectother shocks generated by other sources.

The invention does not limit the type of the gravity sensor. In oneembodiment, the gravity sensor 111 is a one-axis sensor to detect ashock coming from a specific direction. In other embodiments, to detectthe shocks coming from multi-direction, the shock sensor module 110comprises a plurality of one-axis sensors or the gravity sensor 111 is amulti-axis sensor.

Since the gravity sensor can detect the shocks coming from differentdirections, when the position of the cleaning robot 100 shifts due to anexternal force applied to the cleaning robot 100, the external forcecauses a shock and the gravity sensor can detect the shock to generate adetection signal S_(D). The control module 130 obtains information aboutthe source and the strength of the external force according to thedetection signal S_(D) generated by the gravity sensor and then controlsthe operation of the cleaning robot 100, such as to stop all movement orchange a rotational direction.

Since the rotational direction of the cleaning robot 100 relates to theshock event, when the surrounding environment comprises magnetic fields,light or a voice and the magnetic field, the light or the voice cannotbe eliminated from the surrounding environment, the rotational directionof the cleaning robot 100 is not affected by the magnetic field, thelight or the voice. Furthermore, to use the cleaning robot 100, a useris not required to remove some electronic apparatuses because thecleaning robot 100 is not affected by the electronic apparatuses.

In this embodiment, the cleaning module 170 comprises a cleaning brush171, a suction aperture 173, and a dust collection box 175. The controlmodule 130 obtains information about the surrounding environmentaccording to the detection signal S_(D) and then controls the operationof the cleaning module 170 according to the control signal S_(C2) suchthat the cleaning module 170 provides a different cleaning effects fordifferent surrounding environments. For example, the control module 130controls the rotational speed of the cleaning brush 171, the suction ofthe suction aperture 173 or the air flow rate of the dust collection box175 to adjust the cleaning function of the cleaning robot 100.

In other embodiments, the suction aperture 173 has an air-stream flowchannel. A piezoelectric film (not shown) is disposed in the air-streamflow channel. Before particles enter the dust collection box 175, theparticles first pass through the piezoelectric film. The particlescollide with or are compressed into the piezoelectric film to change theshape of the piezoelectric film. Thus, the voltage of the piezoelectricfilm is changed due to the deformed shape. The shock sensor module 110detects the voltage change of the piezoelectric film to generate thedetection signal S_(D). The control module 130 obtains information aboutthe amount of the particles according to the detection signal S_(D) andcontrols the operation of the cleaning module 170 according to theobtained result.

For example, when the cleaning robot 100 is in a dirty region, thevoltage change of the piezoelectric film is larger. Thus, the controlmodule 130 increases the cleaning effect of the cleaning module 170.Contrarily, when the cleaning robot 100 exists in a region, that doesnot have a lot of particles, the voltage change of the piezoelectricfilm is smaller. Thus, the control module 130 decreases or maintains thecleaning effect of the cleaning module 170.

Since the control module 130 can dynamically adjust the cleaningfunction of the cleaning module according to the surroundingenvironment, the cleaning effect of the cleaning module 170 can bemaintained in an optimum effect to increase the cleaning function of thecleaning robot 100. Additionally, since the cleaning module 170 is notrequired to provide a high cleaning effect, the power consumption of thecleaning robot 100 is reduced.

When the cleaning robot 100 operates on a hard floor, such as a woodfloor, the shock sensor module 110 can detect a first shock. When thecleaning robot 100 operates on a soft floor, such as a floor with a rug,the shock sensor module 110 can detect a second shock. The controlmodule 130 adjusts the operation of the cleaning module 170 according tothe different shocks.

Furthermore, when the cleaning robot 100 moves from the hard floor tothe soft floor, since the height of the floor is changed, the shocksensor module 110 detects a shock. The control module 130 adjusts theoperation of the cleaning module 170 according to the shock such thatthe cleaning module 170 provides a different cleaning effect fordifferent surrounding environments.

In other embodiments, the control module 130 generates a control signalS_(C3) to a notice module 190 according to the detection signal S_(D).The notice module 190 provides notice information according to thecontrol signal S_(C3). A user obtains information about a presentcleaning status according to the notice information.

The invention does not limit the type of the notice information. In oneembodiment, the type of the notice information is an image, a voice or ashock. In other embodiments, the type of the notice information is lightor data.

In one embodiment, the notice module 190 is a display panel, anindicator light, a voice generator or a shock generator. A user obtainsinformation about the current cleaning status according to the imagedisplayed in the display panel, the on-off status of the indicatorlight, the voice generated by the voice generator and the status of theshock generator.

FIG. 3 is a flowchart of an exemplary embodiment of a control method fora cleaning robot. First, the cleaning robot is controlled to move (stepS310). In one embodiment, the cleaning robot comprises rollers. Therotational direction and speed of the rollers are controlled to controlthe traveling route of the cleaning robot.

A shock is detected (step S330). In one embodiment, the shock isdetected by at least one gravity sensor. The invention does not limitthe type of the gravity sensor. For example, the gravity sensor is asingle-axis sensor, a two-axis sensor or a three-axis sensor. Thegravity sensors are arranged to detect shocks coming from differentdirections.

The invention does not limit the source of the shock detected by stepS330. In one embodiment, the shock detected by step S330 comes from abase case of the cleaning robot. When the cleaning robot collides withan obstacle or suffers a blow from an external force, a shock isgenerated from the base case of the cleaning robot. Thus, the conditionsof the surrounding environment can be obtained according to the shock.

In another embodiment, step S330 detects the voltage change of thepiezoelectric film disposed in the suction aperture of the cleaningrobot. In this case, a piezoelectric film is disposed in an air-streamflow channel of the suction aperture of the cleaning robot (step S300).When particles pass through the piezoelectric film, since thepiezoelectric film is compressed or collided, the shape of thepiezoelectric film is changed. Thus, the voltage of the piezoelectricfilm is changed. The amount of the particles can be obtained accordingto the voltage change of the piezoelectric film.

The operation of the cleaning robot is controlled according to thedetection result (step S350). In one embodiment, step S350 controls thetraveling route of the cleaning robot. For example, when the cleaningrobot moves, the cleaning robot may collide with an obstacle or suffer ablow from an external force, accordingly, the position of the cleaningrobot shifts such that a shock is generated. Thus, the conditions of thesurrounding environment can be obtained according to the result ofdetecting the shock. The traveling route of the cleaning robot isadjusted to avoid the obstacle according to the obtained informationabout the surrounding environment.

In other embodiments, step S350 controls at least one of the suction andthe air flow rate of the cleaning robot. For example, when the cleaningrobot is in a region and the region has a lot of particles, the voltagechange of the piezoelectric film is larger. Thus, at least one of thesuction or the air flow rate of the cleaning robot or both is increased.Alternatively, if the voltage change of the piezoelectric film issmaller, at least one of the suction or the air flow rate of thecleaning robot or both is reduced or maintained to reduce the powerconsumption of the cleaning robot.

In another embodiment, step S350 controls one or a combination of adisplay light, a display panel and a voice generator of the cleaningrobot to display a dynamic image, a static image, or a light or data. Auser obtains information about the current cleaning status according tothe displayed information. In other embodiments, the cleaning robotgenerates a shock according to the detection result such that the userimmediately obtains information about the current cleaning status.

Since the operation of the cleaning robot is determined by theconditions of the surrounding environment, the cleaning robot provides adifferent cleaning effect for different surrounding environments.Further, the operation of the cleaning robot is associated with a shocksuch that magnetic fields, light and a voice occurring in thesurrounding environment do not interfere with the cleaning robot.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which this invention belongs. It will befurther understood that terms, such as those defined in commonly useddictionaries, should be interpreted as having a meaning that isconsistent with their meaning in the context of the relevant art andwill not be interpreted in an idealized or overly formal sense unlessexpressly so defined herein.

While the invention has been described by way of example and in terms ofthe preferred embodiments, it is to be understood that the invention isnot limited to the disclosed embodiments. To the contrary, it isintended to cover various modifications and similar arrangements (aswould be apparent to those skilled in the art). Therefore, the scope ofthe appended claims should be accorded the broadest interpretation so asto encompass all such modifications and similar arrangements.

What is claimed is:
 1. A cleaning robot, comprising: a movement modulecomprising a plurality of rollers; a cleaning module comprising asuction aperture, a cleaning brush, and a dust collection box; a shocksensor module detecting a shock and generating a detection signal; and acontrol module controlling at least one of the movement module and thecleaning module according to the detection signal.
 2. The cleaning robotas claimed in claim 1, wherein the shock sensor module comprises atleast one gravity sensor.
 3. The cleaning robot as claimed in claim 1,wherein the shock sensor module comprises at least one piezoelectricfilm detecting the shock and generating the detection signal.
 4. Thecleaning robot as claimed in claim 1, further comprising: a noticemodule providing notice information, wherein the control module controlsthe notice module according to the detection signal.
 5. The cleaningrobot as claimed in claim 1, wherein the notice information is an imageor a voice.
 6. The cleaning robot as claimed in claim 1, wherein thecontrol module controls at least one of a rotational direction and arotational speed of the rollers according to the detection signal. 7.The cleaning robot as claimed in claim 1, wherein the control modulecontrols at least one of a suction of the suction aperture and an airflow rate of the dust collection box according to the detection signal.8. The cleaning robot as claimed in claim 1, wherein the control modulecontrols a rotational speed of the cleaning brush according to thedetection signal.
 9. The cleaning robot as claimed in claim 1, whereinthe shock is generated by a base case and the movement module isdisposed under the base case.
 10. The cleaning robot as claimed in claim1, wherein the shock is generated from a piezoelectric film, which isdisposed in an air-stream flow channel of the suction aperture.
 11. Acontrol method for a cleaning robot, comprising: moving the robot;detecting a shock to generate a detection signal; and controlling anoperation of the robot according to the detection signal.
 12. Thecontrol method as claimed in claim 11, wherein the step of detecting theshock is to utilize a gravity sensor to detect the shock.
 13. Thecontrol method as claimed in claim 11, wherein the step of detecting theshock is to detect the shock generated by a base case of the cleaningrobot.
 14. The control method as claimed in claim 11, furthercomprising: disposing a piezoelectric film in an air-stream flow channelof a suction aperture of the cleaning robot.
 15. The control method asclaimed in claim 14, wherein the step of detecting the shock is todetect a voltage of the piezoelectric film.
 16. The control method asclaimed in claim 11, wherein the step of controlling the operation ofthe cleaning robot is to control a traveling route of the cleaningrobot.
 17. The control method as claimed in claim 11, wherein the stepof controlling the operation of the cleaning robot is to control atleast one of a suction and an air flow rate of the cleaning robot. 18.The control method as claimed in claim 11, wherein the step ofcontrolling the operation of the cleaning robot is to control at leastone of a display light, a display panel and a voice generator of thecleaning robot to display a dynamic image or a static image.